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社区H型高血压患者药物基因作用靶点多态性分布及叶酸联合维生素D干预效果研究 被引量:1
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作者 庞爱梅 高伟 +5 位作者 张恒 蒲双双 郭莉莉 范子荣 刘海霞 刘瑞霞 《中国全科医学》 北大核心 2024年第6期704-710,共7页
背景H型高血压严重影响着人们的健康及生活质量,目前临床上治疗高血压主要根据患者症状和临床经验选择药物,降压效果不理想,急需探寻降压药物基因分布的多态性,为高血压患者进行个体化用药指导。目的探讨济南市社区H型高血压药物作用靶... 背景H型高血压严重影响着人们的健康及生活质量,目前临床上治疗高血压主要根据患者症状和临床经验选择药物,降压效果不理想,急需探寻降压药物基因分布的多态性,为高血压患者进行个体化用药指导。目的探讨济南市社区H型高血压药物作用靶点基因多态性分布及叶酸联合维生素D的干预作用,为该地区开展高血压医防融合精准医疗提供参考依据。方法2020年6月—2022年6月随机抽取山东省济南市槐荫区20家街道办事处社区卫生服务中心200例血压控制不佳的高血压患者为研究对象,治疗前首先进行5类常用抗高血压药物[利尿剂、β受体阻滞剂、血管紧张素转化酶抑制剂(ACEI)、钙离子通道抑制剂(CCB)、血管紧张素Ⅱ受体拮抗剂(ARB)]相关高血压个体化用药基因位点的基因多态性检测。将患者随机分为基因导向治疗组(基因组)与基因导向协同叶酸、维生素D治疗组(基因导向组),每组100例。基因组根据检测的高血压基因作用位点的特点调整用药;基因导向组在基因组治疗方案的基础上同时服用叶酸、维生素D。干预初始(M0)、干预3个月(M3)、干预6个月(M6)时采集患者晨间未服用降压药物情况下坐位收缩压和舒张压。记录患者患病情况、不良反应发生情况、脑卒中发生情况,进行基因测序,检测血清同型半胱氨酸(Hcy)浓度。采用Pearson相关性分析或Spearman秩相关分析探究性别、年龄、收缩压、舒张压与Hcy的相关性。结果研究对象性别(r_(s)=-0.463)、收缩压(r=0.181)、舒张压(r=0.188)与Hcy水平有相关性(P<0.05)。5类抗高血压药物基因作用靶点中,与药物代谢酶基因多态性位点相关的分别是CYP3A5(A6986G)、CYP2C9(c.1075A>C)、CYP2D6(c.100C>T),与药物作用靶点敏感性基因多态性位点相关的是ADRB1、ACEI(I/D)、AGTR1、NPPA。基因组A6986G:CYP3A5*1/*1(AA)、ACEI(I/D):D/D、c.100 C>T:CYP2D6*1/*1(CC)患者M3、M6舒张压低于M0,A6986G:CYP3A5a1/a3(AG)、ADRB1 c.1165 G>C:GG、c.1075 A>C:CYP2C9*1/*3(AC)、c.1075 A>C:CYP2C9*3/*3(CC)患者M6舒张压低于M0,A6986G:CYP3A5*3/*3(GG)、ADRB1 c.1165 G>C:CC、ACEI(I/D):I/I、c.1075 A>C:CYP2C9*1/*1(AA)、AGTR1 c.1166 A>C:AA、NPPA T2238C:TT、c.100 C>T:CYP2D6*10/*10(TT)患者M3、M6收缩压、舒张压低于M0,ADRB1 c.1165 G>C:GC、ACEI(I/D):I/D、c.100 C>T:CYP2D6*1/*10(CT)患者M6收缩压低于M0,M3、M6舒张压低于M0,差异有统计学意义(P<0.05)。Hcy水平组间比较结果显示,M3、M6基因导向组Hcy水平低于基因组,差异有统计学意义(P<0.05)。组内比较结果显示,基因组M6 Hcy水平低于M0,基因导向组M3、M6 Hcy水平低于M0,M6 Hcy水平低于M3,差异有统计学意义(P<0.05)。收缩压、舒张压组间比较结果显示,M3、M6基因导向组收缩压、舒张压低于基因组,差异有统计学意义(P<0.05)。组内比较结果显示,基因组、基因导向组M6收缩压、舒张压低于M0,M6收缩压低于M3,差异有统计学意义(P<0.05)。结论社区H型高血压患者中存在高血压药物相关基因多态性的表达差异,个体化用药效果显著;叶酸联合维生素D协同治疗更能显著降低H型高血压水平。 展开更多
关键词 高血压 高同型半胱氨酸血症 h型高血压 基因多态性 叶酸 维生素d
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基于D-H参数的磁阻式球形电机动力学建模
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作者 李瑞英 李国丽 +1 位作者 鞠鲁峰 王群京 《电气工程学报》 CSCD 北大核心 2024年第1期150-158,共9页
三自由度球形电机的动力学模型是对转子运动过程的数学描述,在球形电机的闭环控制中用于计算转子从当前位置运动到期望位置时所需要的驱动转矩。以计算磁阻式球形电机驱动转矩为目标,提出一种动力学方程的建模方法。针对磁阻式球形电机... 三自由度球形电机的动力学模型是对转子运动过程的数学描述,在球形电机的闭环控制中用于计算转子从当前位置运动到期望位置时所需要的驱动转矩。以计算磁阻式球形电机驱动转矩为目标,提出一种动力学方程的建模方法。针对磁阻式球形电机的运动特征,将球形转子等效为三个串联旋转关节,推导出磁阻式球形电机基于D-H参数的动力学方程,再对方程中的未知参数进行辨识,最终模型的预测结果与仿真结果有较高的拟合度,试验验证了该模型在设定运动工况下的可靠性,为磁阻式球形电机驱动控制提供了理论基础。 展开更多
关键词 磁阻式球形电机 d-h参数 动力学模型 机器人 参数辨识
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基于D-H参数的六轴机器人运动学分析与仿真 被引量:1
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作者 周杨 杨旗 闫为佳 《机械工程与自动化》 2024年第3期56-58,共3页
将六轴协作机器人作为研究目标,对其进行了运动学分析,并通过D-H参数法实现了机器人的运动学研究与模拟,同时利用机器人的尺寸图与结构图建立连杆坐标系并形成了相关的参数表,在相同关节角度上分别通过正、逆运动理论与MATLAB模型中的... 将六轴协作机器人作为研究目标,对其进行了运动学分析,并通过D-H参数法实现了机器人的运动学研究与模拟,同时利用机器人的尺寸图与结构图建立连杆坐标系并形成了相关的参数表,在相同关节角度上分别通过正、逆运动理论与MATLAB模型中的方法实现了机器人末端的姿态计算与模型的正确性检验。通过蒙特卡洛算法可以计算出机器人的空间点云图,通过MATLAB工具包可以计算出机器人末端节点的位置、速度和加速度的拟合曲线。 展开更多
关键词 d-h参数法 六轴机器人 样条曲线 运动轨迹规划
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基于D-H法的农业采摘机器人运动协作控制系统设计 被引量:2
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作者 闵小翠 李鹏 《计算机测量与控制》 2024年第1期72-78,84,共8页
为提升农业采摘机器人运动协作控制性能,降低机器人碰撞概率,利用D-H法优化设计机器人运动协作控制系统;改装位置、力矩以及碰撞传感器设备,优化运动协作控制器与驱动器,调整系统通信模块结构,完成硬件系统的优化;利用D-H法构建农业采... 为提升农业采摘机器人运动协作控制性能,降低机器人碰撞概率,利用D-H法优化设计机器人运动协作控制系统;改装位置、力矩以及碰撞传感器设备,优化运动协作控制器与驱动器,调整系统通信模块结构,完成硬件系统的优化;利用D-H法构建农业采摘机器人数学模型,在该模型下,利用传感器设备实现机器人实时位姿的量化描述,通过机器人采摘流程的模拟,分配机器人运动协作任务,从位置和姿态等多个方面,确定运动协作控制目标,经过受力分析求解机器人实际作用力,最终通过控制量的计算,实现农业采摘机器人的运动协作控制功能;通过系统测试实验得出结论:所提方法控制下机器人位置、姿态角和作用力的控制误差分别为14 mm、0.2°和1.2 N,在优化设计系统控制下,机器人的碰撞次数得到明显降低。 展开更多
关键词 d-h 农业采摘机器人 运动协作 运动控制系统
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不同中医证型H型高血压25羟维生素D与脉搏波速度相关性研究
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作者 周盼宝 黎兰芳 《河北中医》 2024年第8期1270-1273,共4页
目的研究不同中医证型H型高血压患者25羟维生素D与脉搏波速度的相关性。方法选取新余市人民医院2021年12月至2022年9月H型高血压患者100例,将患者根据不同证型分为痰湿内盛、阴阳两虚、肝火亢盛、阴虚阳亢4组,收集患者一般资料(包括年... 目的研究不同中医证型H型高血压患者25羟维生素D与脉搏波速度的相关性。方法选取新余市人民医院2021年12月至2022年9月H型高血压患者100例,将患者根据不同证型分为痰湿内盛、阴阳两虚、肝火亢盛、阴虚阳亢4组,收集患者一般资料(包括年龄、性别、既往史等),测量并比较各证型患者血糖、血脂、血清同型半胱氨酸(Hcy)、25羟基维生素D与脉搏波速度,分析各证型脉搏波速度与25羟维生素D的相关性。结果各证型之间总体收缩压为(155.61±10.61)mmHg,总体舒张压为(87.91±11.15)mmHg,各证型组间血压比较差异无统计学意义(P>0.05)。各证型之间血清Hcy比较差异有统计学意义(P<0.05),痰湿内盛证、阴阳两虚证Hcy水平显著高于肝火亢盛证、阴虚阳亢证(P<0.05),其余各组间两两比较差异无统计学意义(P>0.05)。各证型之间脉搏波速度和25羟维生素D水平比较差异无统计学意义(P>0.05)。各证型间空腹血糖、血脂比较差异无统计学意义(P>0.05)。痰湿内盛证、阴阳两虚证脉搏波速度与25羟维生素D水平呈负相关(P<0.05),肝火亢盛证、阴虚阳亢证脉搏波速度与25羟维生素D呈负相关但相关性无统计学意义(P>0.05)。结论H型高血压若证属痰湿内盛或阴阳两虚,同时患有维生素D缺乏,应及时纠正,降低脉搏波速度,改善血管弹性,延缓动脉粥样硬化的发展,从而降低卒中的发生。 展开更多
关键词 h型高血压 中医证型 25羟维生素d 脉搏波速度 相关性
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Reorganization of 3D genome architecture provides insights into pathogenesis of early fatty liver disease in laying hens
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作者 Yanli Liu Zhuqing Zheng +5 位作者 Chaohui Wang Yumeng Wang Xi Sun Zhouzheng Ren Xin Yang Xiaojun Yang 《Journal of Animal Science and Biotechnology》 SCIE CAS CSCD 2024年第3期1086-1100,共15页
Background Fatty liver disease causes huge economic losses in the poultry industry due to its high occurrence and lethality rate.Three-dimensional(3D)chromatin architecture takes part in disease processing by regulati... Background Fatty liver disease causes huge economic losses in the poultry industry due to its high occurrence and lethality rate.Three-dimensional(3D)chromatin architecture takes part in disease processing by regulating tran-scriptional reprogramming.The study is carried out to investigate the alterations of hepatic 3D genome and H3K27ac profiling in early fatty liver(FLS)and reveal their effect on hepatic transcriptional reprogramming in laying hens.Results Results show that FLS model is constructed with obvious phenotypes including hepatic visible lipid deposi-tion as well as higher total triglyceride and cholesterol in serum.A/B compartment switching,topologically associat-ing domain(TAD)and chromatin loop changes are identified by high-throughput/resolution chromosome conforma-tion capture(HiC)technology.Targeted genes of these alternations in hepatic 3D genome organization significantly enrich pathways related to lipid metabolism and hepatic damage.H3K27ac differential peaks and differential expres-sion genes(DEGs)identified through RNA-seq analysis are also enriched in these pathways.Notably,certain DEGs are found to correspond with changes in 3D chromatin structure and H3K27ac binding in their promoters.DNA motif analysis reveals that candidate transcription factors are implicated in regulating transcriptional reprogram-ming.Furthermore,disturbed folate metabolism is observed,as evidenced by lower folate levels and altered enzyme expression.Conclusion Our findings establish a link between transcriptional reprogramming changes and 3D chromatin struc-ture variations during early FLS formation,which provides candidate transcription factors and folate as targets for FLS prevention or treatment. 展开更多
关键词 3d chromatin architecture Fatty liver disease Folate h3K27ac profiling Transcription reprogramming
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叙事学视域下D.H.劳伦斯的小说艺术研究
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作者 郝丹丹 《江西电力职业技术学院学报》 CAS 2024年第6期163-165,共3页
D.H.劳伦斯的小说创作引领了现代主义思潮的变革,他对空间叙事形式的创新、对感官叙事的推崇以及具有深邃寓意的象征主义叙事,都极大地推动了传统现实主义文学的变革。基于此,从形态丰富的空间叙事、细腻直观的感官叙事、寓意深邃的象... D.H.劳伦斯的小说创作引领了现代主义思潮的变革,他对空间叙事形式的创新、对感官叙事的推崇以及具有深邃寓意的象征主义叙事,都极大地推动了传统现实主义文学的变革。基于此,从形态丰富的空间叙事、细腻直观的感官叙事、寓意深邃的象征技法3个方面,探析了D.H.劳伦斯小说创作的叙事特征以及艺术风格。 展开更多
关键词 d.h.劳伦斯 空间叙事 意象建构
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论D.H.劳伦斯小说中矿乡景观的怀旧情结
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作者 张琼 《美学与艺术评论》 2024年第1期194-204,250,共12页
D.H.劳伦斯在多部长篇小说中,从不同侧面展现了以伊斯特伍德为蓝本的矿乡景观的变迁。在矿乡景观的变迁过程中,古老英国的景观的不断消逝,乡村的概念被保存下来并成为一种永恒的存在,一个脱胎于旧英国幻景的怀旧标本被营造,最终成为作... D.H.劳伦斯在多部长篇小说中,从不同侧面展现了以伊斯特伍德为蓝本的矿乡景观的变迁。在矿乡景观的变迁过程中,古老英国的景观的不断消逝,乡村的概念被保存下来并成为一种永恒的存在,一个脱胎于旧英国幻景的怀旧标本被营造,最终成为作家怀旧情结的来源。本文从怀旧的表征、怀旧的本质和怀旧的意义三个方面分析了劳伦斯小说中怀旧情结的构成,进而探索面对英国工业革命对传统价值观念的冲击,劳伦斯是如何通过矿乡景观变迁来凸显人的异化困境和反思人的身份归属问题的。 展开更多
关键词 d.h.劳伦斯小说 矿乡景观 怀旧情结 异化 身份
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乡村振兴背景下农村土地流转现状及优化建议——以H市D村为例
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作者 李鹏程 《黑龙江粮食》 2024年第9期152-154,共3页
土地资源合理配置对乡村振兴至关重要,农村土地流转是促进农民增收和农业现代化的关键。然而,农村发展面临诸多矛盾,土地问题的解决是解决“三农”问题的关键。通过研究H市D村的土地流转情况,发现存在农民流转意愿低、职业技能缺乏、流... 土地资源合理配置对乡村振兴至关重要,农村土地流转是促进农民增收和农业现代化的关键。然而,农村发展面临诸多矛盾,土地问题的解决是解决“三农”问题的关键。通过研究H市D村的土地流转情况,发现存在农民流转意愿低、职业技能缺乏、流转程序和市场机制不健全以及缺乏风险防范机制等问题。文章建议加强宣传、定期培训、完善分配监督机制、探索风险防范措施和建立管理服务体系,以推动乡村振兴下的土地流转。 展开更多
关键词 乡村振兴 农村 土地流转 hd
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混合D-H参数法与改进CSA的康复机器人在老年人体育锻炼中的应用
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作者 马露红 《喀什大学学报》 2024年第3期85-89,共5页
针对当前康复机器人轨迹规划优化算法优化性能不足,导致康复机器人对老年人体育锻炼的辅助效果不显著的缺陷,提出一种结合D-H参数法和改进乌鸦搜索算法来进行康复机器人轨迹规划的优化方法.首先,基于D-H参数法对康复机器人进行运动学和... 针对当前康复机器人轨迹规划优化算法优化性能不足,导致康复机器人对老年人体育锻炼的辅助效果不显著的缺陷,提出一种结合D-H参数法和改进乌鸦搜索算法来进行康复机器人轨迹规划的优化方法.首先,基于D-H参数法对康复机器人进行运动学和动力学建模,在此基础上构建目标函数;然后,引入Levy飞行机制和Tent混沌映射策略来优化乌鸦搜索算法;最后,再利用改进乌鸦搜索算法来实现康复机器人轨迹规划优化.实验结果显示,改进乌鸦搜索算法完成收敛需要迭代39次,在函数f1上GD值为0.0020,比WOA算法低0.0005;在函数f2上GD值为0.0020,优于其他算法.结果表明,结合D-H参数法和改进乌鸦搜索算法能够有效优化康复机器人轨迹规划,从而提高老年人体育锻炼的辅助效果,对老年人的生活质量提升有积极作用. 展开更多
关键词 d-h参数法 乌鸦搜索算法 康复机器人 老年人体育锻炼
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The Interpretation of Lawrence’s Poetry from the Perspective of Ecocriticism Theory
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作者 LI Chun-feng 《Journal of Literature and Art Studies》 2023年第2期61-67,共7页
Based on ecocriticism theory,this paper is to conduct a comprehensive discussion of Lawrence’s poetry from three aspects:natural ecology,social ecology and spiritual ecology,to explore the profound ecological philoso... Based on ecocriticism theory,this paper is to conduct a comprehensive discussion of Lawrence’s poetry from three aspects:natural ecology,social ecology and spiritual ecology,to explore the profound ecological philosophical implications contained in Lawrence’s poetry,and to expand the breadth and depth of the ecocriticism interpretation of Lowe’s poetry research. 展开更多
关键词 ECOCRITICISM d.h.lawrence natural ecology social ecology spiritual ecology
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Brief Analysis of D.H.Lawrence's View on Female and its Formation
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作者 冉一鸣 《海外英语》 2014年第16期180-181,209,共3页
This thesis focuses on D.H.Lawrence's view on female in his novel writing. The author firstly introduces Lawrence's view on female through analyzing female images in his works,then analyzes the contributing fa... This thesis focuses on D.H.Lawrence's view on female in his novel writing. The author firstly introduces Lawrence's view on female through analyzing female images in his works,then analyzes the contributing factors of his views' formation. 展开更多
关键词 d.h.lawrence VIEW on FEMALE PERSONAL experiences
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D.H.Lawrence's Criticism on Industrialization-The Ecocritical Study of Odour of Chrysanthemums
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作者 彭红霞 《海外英语》 2012年第7X期203-204,共2页
Through ecocritical study of Odour of Chrysanthemums,this paper reflects that the industrial civilization leads to damaged nature,distorted humanity and conjugal relation.
关键词 Odour of ChRYSANThEMUMS d.h.lawrence ECOCRITICISM
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Death and Regeneration:On D. H. Lawrence's Bavarian Gentians
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作者 李恩庆 黄淞 王丽娟 《海外英语》 2013年第9X期193-195,共3页
As probably the most misread writer of the 20th century, D. H. Lawrence was not only a great novelist, but also a great poet, who should have shared the same importance as W. B. Yeats and T. S. Eliot."Bavarian Ge... As probably the most misread writer of the 20th century, D. H. Lawrence was not only a great novelist, but also a great poet, who should have shared the same importance as W. B. Yeats and T. S. Eliot."Bavarian Gentians"is one of his masterpieces, which was written in the last few months of his life along with some other poems on death, heaven and hell, including The Ship of Death, Glory of Darkness and Song of Death. The mythological poem, a bit mystic and surreal, embodies the view of Lawrence on death. This paper is trying to give a brief analysis on the images and theme of the poem. 展开更多
关键词 dEATh REGENERATION d. h. lawrence Bavarian GENTIAN
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D. H. Lawrence's Views On Men's Future Consummationof Life
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作者 FENG Jianming (English Department, College of Foreign Languages, Hebei Normal University,shijiazhuang,hebei 050016) 《邯郸职业技术学院学报》 2001年第4期42-45,共4页
CX]\] D. H. Lawrence insists that a kind of manly love -- blood brotherhood be one of the indispensable factors for men’s future consummation of life, nevertheless, he doesn’tsatisfactorily solve the problem in this... CX]\] D. H. Lawrence insists that a kind of manly love -- blood brotherhood be one of the indispensable factors for men’s future consummation of life, nevertheless, he doesn’tsatisfactorily solve the problem in this book.[ 展开更多
关键词 d.h.lawrence h劳伦斯 兄弟关系 英国 现代文学 小说
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D. H. Lawrence's Perception of Women as Reflected in His Fiction
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作者 刘莉华 《海外英语》 2016年第21期183-186,共4页
David Herbert Lawrence is a modernist who remains controversial in literary criticism even now. The major point of debate about him is his perception of women and the relation between the two sexes. Despite his misogy... David Herbert Lawrence is a modernist who remains controversial in literary criticism even now. The major point of debate about him is his perception of women and the relation between the two sexes. Despite his misogynic pronouncements in his essays and feminist critics' constant attack on him, this article argues that Lawrence does not hold a male chauvinist or antifemale perspective in his fiction. Through a careful survey of his major novels and short stories, this article explores the rich variety of female characters that he created and his deep insight into women's existence, and identifies him as a male writer struggling to speak for women from a non-feminist standpoint. 展开更多
关键词 d h lawrence characterization of women sex politics women in fiction
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The Characterization of Women as Aggressive Beings in D. H. Lawrence's Fiction
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作者 刘莉华 《海外英语》 2015年第8期161-163,共3页
David Herbert Lawrence is one of the few male modernists who remain controversial in literary criticism even now.The major point of debate about him is his outlook on women and the relation between the two sexes.Despi... David Herbert Lawrence is one of the few male modernists who remain controversial in literary criticism even now.The major point of debate about him is his outlook on women and the relation between the two sexes.Despite his misogynic pronouncements in his essays and feminist critics’constant attack on him,this paper,through a careful survey of his major novels and short stories,explores the rich variety of aggressive female characters that he created and his deep insight into women’s existence,and identifies him as a male writer struggling to speak for women from a non-feminist standpoint. 展开更多
关键词 ChARACTERIZATION of WOMEN d.h.lawrence BRITISh modernist FICTION
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The Characterization of Women as Oppressive Beings in D.H. Lawrence's Fiction
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作者 刘莉华 《海外英语》 2017年第22期166-168,共3页
David Herbert Lawrence is one of the few male modernists who remain controversial in literary criticism even now.The major point of debate about him is his outlook on women and the relation between the two sexes. This... David Herbert Lawrence is one of the few male modernists who remain controversial in literary criticism even now.The major point of debate about him is his outlook on women and the relation between the two sexes. This article,through a careful survey of his major novels and short stories, explores a wide range of oppressive female characters that he created and his deep insight into women's existence. Rather than simply demonize women in his fiction, D.H. Lawrence intends to reveal to the reader that women's will to serve, to sacrifice, and to be adored may well evolve into a strong desire to manipulate and monopolize their men. In response the author repeatedly advocates and eulogizes a relationship of spiritual separateness in balance with physical union between the sexes. 展开更多
关键词 characterization of women d.h. lawrence British modernist fiction
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On Lawrence's View of Sexual Relationship from Lady Chatterley's Lover
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作者 方洁 《海外英语》 2018年第10期160-163,共4页
Lady Chatterley’s Lover is David Herbert Lawrence’s last novel of elaborating sexual relationship in extramarital affairs.Since the novel was published in 1928,scholars have been studying it from various perspective... Lady Chatterley’s Lover is David Herbert Lawrence’s last novel of elaborating sexual relationship in extramarital affairs.Since the novel was published in 1928,scholars have been studying it from various perspectives.Lawrence depicts intercourse between the two protagonists explicitly by actions,discourses and mental acts,and he once justified the publication of this book,which provides possibility and clues for probing his view of sex and sexual relationship through the novel.Staring from Mellors’discourses with Connie,the description of male characters,and the anima and animus archetypes in the novel,the paper analyzes Lawrence’s sexual theory and his advocacy for combination of body and soul based on the British society then and Lawrence’s own experience. 展开更多
关键词 lady chatterley’s lover d.h.lawrence sexual relationship dISCOURSE character dualism anima and animus archetypes
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高压输电线路机器人防滑挂线轮毂的H型3D打印装置的研究
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作者 张立军 马哲 +7 位作者 王钰文 张晓东 贺庆强 王智伟 王吉岱 马龙 王晓强 李明 《现代制造工程》 CSCD 北大核心 2023年第6期20-25,84,共7页
针对目前桌面级3D打印机存在打印速度慢、打印精度低的问题,提出并设计了高压输电线路机器人防滑挂线轮毂的H型结构3D打印机。通过对3D打印机结构建模与运动学分析,建立了其数学模型,推导出其逆运动学方程;提出了H型结构3D打印机的控制... 针对目前桌面级3D打印机存在打印速度慢、打印精度低的问题,提出并设计了高压输电线路机器人防滑挂线轮毂的H型结构3D打印机。通过对3D打印机结构建模与运动学分析,建立了其数学模型,推导出其逆运动学方程;提出了H型结构3D打印机的控制算法,运用PID控制调节系统的输入信号和输出信号的误差,获得了3D打印机的稳定工作模式。试验结果表明,提出的H型结构的3D打印机的打印精度高于目前常见Prusa I3型结构,能够实现快速平稳打印,打印速度提高20%左右,末端执行器在80 mm/s速度下仍能平稳工作,且运动轨迹理想,应用前景好。 展开更多
关键词 输电线路机器人 3d打印 h型结构 防滑挂线轮毂 PId控制
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